diff --git a/.vscode/settings.json b/.vscode/settings.json
index 58ff402a73cbab01aec46466db0a41bea2048ed4..6c2786aa3dce9c51c5660c36873f7ab01e2a8e4b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -114,7 +114,9 @@
"xtr1common": "cpp",
"xtree": "cpp",
"xutility": "cpp",
- "BiasCorrector.C": "cpp"
+ "BiasCorrector.C": "cpp",
+ "numbers": "cpp",
+ "semaphore": "cpp"
},
"editor.formatOnSave": true,
"[c]": {
diff --git a/skyward-boardcore b/skyward-boardcore
index b692844ee50a2bd7619ee7be202a1d9641fa72f8..fdc5f4e20e937dfa3257493095300a2663b8e0c1 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit b692844ee50a2bd7619ee7be202a1d9641fa72f8
+Subproject commit fdc5f4e20e937dfa3257493095300a2663b8e0c1
diff --git a/src Lynx/boards/DeathStack/NavigationAttitudeSystem/NAS.h b/src Lynx/boards/DeathStack/NavigationAttitudeSystem/NAS.h
index 6c9a7b8120f304b75a1bc490d3c0031a489487fb..8924ed9abaff5846d324324333e3cdf8758c45b7 100644
--- a/src Lynx/boards/DeathStack/NavigationAttitudeSystem/NAS.h
+++ b/src Lynx/boards/DeathStack/NavigationAttitudeSystem/NAS.h
@@ -212,19 +212,19 @@ NASData NAS<IMU, Press, GPS>::sampleImpl()
// update ekf with new accel and gyro measures
if (imu_data.accelerationTimestamp != last_accel_timestamp &&
- imu_data.angularVelocityTimestamp != last_gyro_timestamp)
+ imu_data.angularSpeedTimestamp != last_gyro_timestamp)
{
last_accel_timestamp = imu_data.accelerationTimestamp;
- last_gyro_timestamp = imu_data.angularVelocityTimestamp;
+ last_gyro_timestamp = imu_data.angularSpeedTimestamp;
Eigen::Vector3f accel_readings(imu_data.accelerationX,
imu_data.accelerationY,
imu_data.accelerationZ);
filter.predict(accel_readings);
- Eigen::Vector3f gyro_readings(imu_data.angularVelocityX,
- imu_data.angularVelocityY,
- imu_data.angularVelocityZ);
+ Eigen::Vector3f gyro_readings(imu_data.angularSpeedX,
+ imu_data.angularSpeedY,
+ imu_data.angularSpeedZ);
filter.predictMEKF(gyro_readings);
}
diff --git a/src Lynx/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp b/src Lynx/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
index 018552592d961483542a06e213e653184ba3e68e..0524c449b89967e56c6bdb84126ec7598c18bb97 100644
--- a/src Lynx/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
+++ b/src Lynx/boards/DeathStack/TelemetriesTelecommands/TmRepository.cpp
@@ -293,9 +293,9 @@ void TmRepository::update<BMX160Data>(const BMX160Data& t)
tm_repository.sensors_tm.bmx160_acc_x = t.accelerationX;
tm_repository.sensors_tm.bmx160_acc_y = t.accelerationY;
tm_repository.sensors_tm.bmx160_acc_z = t.accelerationZ;
- tm_repository.sensors_tm.bmx160_gyro_x = t.angularVelocityX;
- tm_repository.sensors_tm.bmx160_gyro_y = t.angularVelocityY;
- tm_repository.sensors_tm.bmx160_gyro_z = t.angularVelocityZ;
+ tm_repository.sensors_tm.bmx160_gyro_x = t.angularSpeedX;
+ tm_repository.sensors_tm.bmx160_gyro_y = t.angularSpeedY;
+ tm_repository.sensors_tm.bmx160_gyro_z = t.angularSpeedZ;
tm_repository.sensors_tm.bmx160_mag_x = t.magneticFieldX;
tm_repository.sensors_tm.bmx160_mag_y = t.magneticFieldY;
tm_repository.sensors_tm.bmx160_mag_z = t.magneticFieldZ;
@@ -308,9 +308,9 @@ void TmRepository::update<BMX160WithCorrectionData>(
tm_repository.bmx_tm.acc_x = t.accelerationX;
tm_repository.bmx_tm.acc_y = t.accelerationY;
tm_repository.bmx_tm.acc_z = t.accelerationZ;
- tm_repository.bmx_tm.gyro_x = t.angularVelocityX;
- tm_repository.bmx_tm.gyro_y = t.angularVelocityY;
- tm_repository.bmx_tm.gyro_z = t.angularVelocityZ;
+ tm_repository.bmx_tm.gyro_x = t.angularSpeedX;
+ tm_repository.bmx_tm.gyro_y = t.angularSpeedY;
+ tm_repository.bmx_tm.gyro_z = t.angularSpeedZ;
tm_repository.bmx_tm.mag_x = t.magneticFieldX;
tm_repository.bmx_tm.mag_y = t.magneticFieldY;
tm_repository.bmx_tm.mag_z = t.magneticFieldZ;
@@ -318,9 +318,9 @@ void TmRepository::update<BMX160WithCorrectionData>(
tm_repository.hr_tm.acc_x = t.accelerationX;
tm_repository.hr_tm.acc_y = t.accelerationY;
tm_repository.hr_tm.acc_z = t.accelerationZ;
- tm_repository.hr_tm.gyro_x = t.angularVelocityX;
- tm_repository.hr_tm.gyro_y = t.angularVelocityY;
- tm_repository.hr_tm.gyro_z = t.angularVelocityZ;
+ tm_repository.hr_tm.gyro_x = t.angularSpeedX;
+ tm_repository.hr_tm.gyro_y = t.angularSpeedY;
+ tm_repository.hr_tm.gyro_z = t.angularSpeedZ;
tm_repository.hr_tm.mag_x = t.magneticFieldX;
tm_repository.hr_tm.mag_y = t.magneticFieldY;
tm_repository.hr_tm.mag_z = t.magneticFieldZ;
diff --git a/src Lynx/hardware_in_the_loop/HIL_sensors/HILSensorsData.h b/src Lynx/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
index 27036157c56b9bebd750dd8c8d6bc1b854a90d41..2dfd5f6598e523bfe0c82de10abc502e200ef75d 100644
--- a/src Lynx/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
+++ b/src Lynx/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
@@ -53,8 +53,8 @@ struct HILGyroscopeData : public GyroscopeData
void print(std::ostream& os) const
{
- os << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << "\n";
+ os << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << "\n";
}
};
@@ -90,8 +90,8 @@ struct HILImuData : public HILAccelData,
{
os << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << ","
- << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << ","
+ << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << ","
<< magneticFieldTimestamp << "," << magneticFieldX << ","
<< magneticFieldY << "," << magneticFieldZ << "\n";
}
diff --git a/src Lynx/mocksensors/MockIMU.h b/src Lynx/mocksensors/MockIMU.h
index 95b7ce716ac8b2ec901d54c91d2239b4adb53d1b..9bd7368c3b9fdd00b5d7f5580049eb4400973ccf 100644
--- a/src Lynx/mocksensors/MockIMU.h
+++ b/src Lynx/mocksensors/MockIMU.h
@@ -54,10 +54,10 @@ public:
data.accelerationY = ACCEL_DATA[index][1];
data.accelerationZ = ACCEL_DATA[index][2];
- data.angularVelocityTimestamp = t;
- data.angularVelocityX = GYRO_DATA[index][0];
- data.angularVelocityY = GYRO_DATA[index][1];
- data.angularVelocityZ = GYRO_DATA[index][2];
+ data.angularSpeedTimestamp = t;
+ data.angularSpeedX = GYRO_DATA[index][0];
+ data.angularSpeedY = GYRO_DATA[index][1];
+ data.angularSpeedZ = GYRO_DATA[index][2];
data.magneticFieldTimestamp = t;
data.magneticFieldX = MAG_DATA[index][0];
diff --git a/src Lynx/mocksensors/MockSensorsData.h b/src Lynx/mocksensors/MockSensorsData.h
index de12014dca80e3095f7323e7683518d4b31247e7..2ac35879fd185c648f3f0ff709cf1a14e4ae6fbd 100644
--- a/src Lynx/mocksensors/MockSensorsData.h
+++ b/src Lynx/mocksensors/MockSensorsData.h
@@ -39,8 +39,8 @@ struct MockIMUData : public Boardcore::AccelerometerData,
{
os << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << ","
- << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << ","
+ << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << ","
<< magneticFieldTimestamp << "," << magneticFieldX << ","
<< magneticFieldY << "," << magneticFieldZ << "\n";
}
diff --git a/src/boards/Main/Sensors/Sensors.cpp b/src/boards/Main/Sensors/Sensors.cpp
index 7e082d71a37cc41893944cc60dede4e78686d110..3b35e89d043b8d6b05f366109764b232d329dfab 100644
--- a/src/boards/Main/Sensors/Sensors.cpp
+++ b/src/boards/Main/Sensors/Sensors.cpp
@@ -84,18 +84,18 @@ BMX160WithCorrectionData Sensors::getBMX160WithCorrectionLastSample()
auto imuData = state.imu->getLastSample();
BMX160WithCorrectionData data;
- data.accelerationTimestamp = imuData.accelerationTimestamp;
- data.accelerationX = imuData.accelerationX;
- data.accelerationY = imuData.accelerationY;
- data.accelerationZ = imuData.accelerationZ;
- data.angularVelocityTimestamp = imuData.angularVelocityTimestamp;
- data.angularVelocityX = imuData.angularVelocityX;
- data.angularVelocityY = imuData.angularVelocityY;
- data.angularVelocityZ = imuData.angularVelocityZ;
- data.magneticFieldTimestamp = imuData.magneticFieldTimestamp;
- data.magneticFieldX = imuData.magneticFieldX;
- data.magneticFieldY = imuData.magneticFieldY;
- data.magneticFieldZ = imuData.magneticFieldZ;
+ data.accelerationTimestamp = imuData.accelerationTimestamp;
+ data.accelerationX = imuData.accelerationX;
+ data.accelerationY = imuData.accelerationY;
+ data.accelerationZ = imuData.accelerationZ;
+ data.angularSpeedTimestamp = imuData.angularSpeedTimestamp;
+ data.angularSpeedX = imuData.angularSpeedX;
+ data.angularSpeedY = imuData.angularSpeedY;
+ data.angularSpeedZ = imuData.angularSpeedZ;
+ data.magneticFieldTimestamp = imuData.magneticFieldTimestamp;
+ data.magneticFieldX = imuData.magneticFieldX;
+ data.magneticFieldY = imuData.magneticFieldY;
+ data.magneticFieldZ = imuData.magneticFieldZ;
return data;
#endif
diff --git a/src/boards/Main/TMRepository/TMRepository.cpp b/src/boards/Main/TMRepository/TMRepository.cpp
index 89173c5b4563b59babdc7fd616497395f9a006b9..79a3b98d2a17479702322cf0020afa27901465c9 100644
--- a/src/boards/Main/TMRepository/TMRepository.cpp
+++ b/src/boards/Main/TMRepository/TMRepository.cpp
@@ -250,9 +250,9 @@ mavlink_message_t TMRepository::packSystemTm(SystemTMList tmId, uint8_t msgId,
tm.acc_x = imuData.accelerationX;
tm.acc_y = imuData.accelerationY;
tm.acc_z = imuData.accelerationZ;
- tm.gyro_x = imuData.angularVelocityX;
- tm.gyro_y = imuData.angularVelocityY;
- tm.gyro_z = imuData.angularVelocityZ;
+ tm.gyro_x = imuData.angularSpeedX;
+ tm.gyro_y = imuData.angularSpeedY;
+ tm.gyro_z = imuData.angularSpeedZ;
tm.mag_x = imuData.magneticFieldX;
tm.mag_y = imuData.magneticFieldY;
tm.mag_z = imuData.magneticFieldZ;
@@ -383,9 +383,9 @@ mavlink_message_t TMRepository::packSensorsTm(SensorsTMList sensorId,
tm.acc_x = imuData.accelerationX;
tm.acc_y = imuData.accelerationY;
tm.acc_z = imuData.accelerationZ;
- tm.gyro_x = imuData.angularVelocityX;
- tm.gyro_y = imuData.angularVelocityY;
- tm.gyro_z = imuData.angularVelocityZ;
+ tm.gyro_x = imuData.angularSpeedX;
+ tm.gyro_y = imuData.angularSpeedY;
+ tm.gyro_z = imuData.angularSpeedZ;
tm.mag_x = imuData.magneticFieldX;
tm.mag_y = imuData.magneticFieldY;
tm.mag_z = imuData.magneticFieldZ;
@@ -406,9 +406,9 @@ mavlink_message_t TMRepository::packSensorsTm(SensorsTMList sensorId,
tm.acc_x = imuData.accelerationX;
tm.acc_y = imuData.accelerationY;
tm.acc_z = imuData.accelerationZ;
- tm.gyro_x = imuData.angularVelocityX;
- tm.gyro_y = imuData.angularVelocityY;
- tm.gyro_z = imuData.angularVelocityZ;
+ tm.gyro_x = imuData.angularSpeedX;
+ tm.gyro_y = imuData.angularSpeedY;
+ tm.gyro_z = imuData.angularSpeedZ;
tm.mag_x = imuData.magneticFieldX;
tm.mag_y = imuData.magneticFieldY;
tm.mag_z = imuData.magneticFieldZ;
@@ -429,9 +429,9 @@ mavlink_message_t TMRepository::packSensorsTm(SensorsTMList sensorId,
tm.acc_x = imuData.accelerationX;
tm.acc_y = imuData.accelerationY;
tm.acc_z = imuData.accelerationZ;
- tm.gyro_x = imuData.angularVelocityX;
- tm.gyro_y = imuData.angularVelocityY;
- tm.gyro_z = imuData.angularVelocityZ;
+ tm.gyro_x = imuData.angularSpeedX;
+ tm.gyro_y = imuData.angularSpeedY;
+ tm.gyro_z = imuData.angularSpeedZ;
tm.mag_x = imuData.magneticFieldX;
tm.mag_y = imuData.magneticFieldY;
tm.mag_z = imuData.magneticFieldZ;
diff --git a/src/boards/Parafoil/NASController/NASController.cpp b/src/boards/Parafoil/NASController/NASController.cpp
index c69cb48ce24bfba93a2be971420fb2ce693cce80..dfd868efdc240d72355a57e1838d3c8732e1e533 100644
--- a/src/boards/Parafoil/NASController/NASController.cpp
+++ b/src/boards/Parafoil/NASController/NASController.cpp
@@ -62,9 +62,8 @@ void NASController::update()
// Extrapolate all the data
Eigen::Vector3f acceleration(imuData.accelerationX, imuData.accelerationY,
imuData.accelerationZ);
- Eigen::Vector3f angularVelocity(imuData.angularVelocityX,
- imuData.angularVelocityY,
- imuData.angularVelocityZ);
+ Eigen::Vector3f angularSpeed(imuData.angularSpeedX, imuData.angularSpeedY,
+ imuData.angularSpeedZ);
Eigen::Vector3f magneticField(
imuData.magneticFieldX, imuData.magneticFieldY, imuData.magneticFieldZ);
@@ -81,7 +80,7 @@ void NASController::update()
Eigen::Vector3f biasAcc(-0.1255, 0.2053, -0.2073);
acceleration -= biasAcc;
Eigen::Vector3f bias(-0.0291, 0.0149, 0.0202);
- angularVelocity -= bias;
+ angularSpeed -= bias;
Eigen::Vector3f offset(15.9850903462129, -15.6775071377074,
-33.8438469147423);
magneticField -= offset;
@@ -89,7 +88,7 @@ void NASController::update()
}
// Predict step
- nas.predictGyro(angularVelocity);
+ nas.predictGyro(angularSpeed);
if (gpsPos[0] < 1e3 && gpsPos[0] > -1e3 && gpsPos[1] < 1e3 &&
gpsPos[1] > -1e3)
nas.predictAcc(acceleration);
diff --git a/src/boards/Parafoil/TMRepository/TMRepository.cpp b/src/boards/Parafoil/TMRepository/TMRepository.cpp
index 650e4c0cdd3de02aa5a7f64d4a02cbb4a46a1b05..501367a7a3815a1de3c6354cb556a729471c66a5 100644
--- a/src/boards/Parafoil/TMRepository/TMRepository.cpp
+++ b/src/boards/Parafoil/TMRepository/TMRepository.cpp
@@ -179,9 +179,9 @@ mavlink_message_t TMRepository::packSystemTm(SystemTMList reqTm)
tm.acc_x = imuData.accelerationX;
tm.acc_y = imuData.accelerationY;
tm.acc_z = imuData.accelerationZ;
- tm.gyro_x = imuData.angularVelocityX;
- tm.gyro_y = imuData.angularVelocityY;
- tm.gyro_z = imuData.angularVelocityZ;
+ tm.gyro_x = imuData.angularSpeedX;
+ tm.gyro_y = imuData.angularSpeedY;
+ tm.gyro_z = imuData.angularSpeedZ;
tm.mag_x = imuData.magneticFieldX;
tm.mag_y = imuData.magneticFieldY;
tm.mag_z = imuData.magneticFieldZ;
@@ -313,9 +313,9 @@ mavlink_message_t TMRepository::packSensorsTm(SensorsTMList reqTm)
tm.acc_x = imuData.accelerationX;
tm.acc_y = imuData.accelerationY;
tm.acc_z = imuData.accelerationZ;
- tm.gyro_x = imuData.angularVelocityX;
- tm.gyro_y = imuData.angularVelocityY;
- tm.gyro_z = imuData.angularVelocityZ;
+ tm.gyro_x = imuData.angularSpeedX;
+ tm.gyro_y = imuData.angularSpeedY;
+ tm.gyro_z = imuData.angularSpeedZ;
tm.mag_x = imuData.magneticFieldX;
tm.mag_y = imuData.magneticFieldY;
tm.mag_z = imuData.magneticFieldZ;
diff --git a/src/boards/Payload/Sensors/Sensors.cpp b/src/boards/Payload/Sensors/Sensors.cpp
index 99617f16397dffcfe2ff6b37aedd2e27728a7689..c9af766b6f1097edc1b22c70d36a36ca5757e58f 100644
--- a/src/boards/Payload/Sensors/Sensors.cpp
+++ b/src/boards/Payload/Sensors/Sensors.cpp
@@ -77,18 +77,18 @@ BMX160WithCorrectionData Sensors::getBMX160WithCorrectionLastSample()
auto imuData = state.imu->getLastSample();
BMX160WithCorrectionData data;
- data.accelerationTimestamp = imuData.accelerationTimestamp;
- data.accelerationX = imuData.accelerationX;
- data.accelerationY = imuData.accelerationY;
- data.accelerationZ = imuData.accelerationZ;
- data.angularVelocityTimestamp = imuData.angularVelocityTimestamp;
- data.angularVelocityX = imuData.angularVelocityX;
- data.angularVelocityY = imuData.angularVelocityY;
- data.angularVelocityZ = imuData.angularVelocityZ;
- data.magneticFieldTimestamp = imuData.magneticFieldTimestamp;
- data.magneticFieldX = imuData.magneticFieldX;
- data.magneticFieldY = imuData.magneticFieldY;
- data.magneticFieldZ = imuData.magneticFieldZ;
+ data.accelerationTimestamp = imuData.accelerationTimestamp;
+ data.accelerationX = imuData.accelerationX;
+ data.accelerationY = imuData.accelerationY;
+ data.accelerationZ = imuData.accelerationZ;
+ data.angularSpeedTimestamp = imuData.angularSpeedTimestamp;
+ data.angularSpeedX = imuData.angularSpeedX;
+ data.angularSpeedY = imuData.angularSpeedY;
+ data.angularSpeedZ = imuData.angularSpeedZ;
+ data.magneticFieldTimestamp = imuData.magneticFieldTimestamp;
+ data.magneticFieldX = imuData.magneticFieldX;
+ data.magneticFieldY = imuData.magneticFieldY;
+ data.magneticFieldZ = imuData.magneticFieldZ;
return data;
#endif
diff --git a/src/boards/Payload/TMRepository/TMRepository.cpp b/src/boards/Payload/TMRepository/TMRepository.cpp
index e548b8878027ad61e8192e315e20f43d580b6730..533871af5177b1b6af964197bd5e066b4ab15fcb 100644
--- a/src/boards/Payload/TMRepository/TMRepository.cpp
+++ b/src/boards/Payload/TMRepository/TMRepository.cpp
@@ -190,9 +190,9 @@ mavlink_message_t TMRepository::packSystemTm(SystemTMList tmId, uint8_t msgId,
tm.acc_x = imuData.accelerationX;
tm.acc_y = imuData.accelerationY;
tm.acc_z = imuData.accelerationZ;
- tm.gyro_x = imuData.angularVelocityX;
- tm.gyro_y = imuData.angularVelocityY;
- tm.gyro_z = imuData.angularVelocityZ;
+ tm.gyro_x = imuData.angularSpeedX;
+ tm.gyro_y = imuData.angularSpeedY;
+ tm.gyro_z = imuData.angularSpeedZ;
tm.mag_x = imuData.magneticFieldX;
tm.mag_y = imuData.magneticFieldY;
tm.mag_z = imuData.magneticFieldZ;
@@ -338,9 +338,9 @@ mavlink_message_t TMRepository::packSensorsTm(SensorsTMList sensorId,
tm.acc_x = imuData.accelerationX;
tm.acc_y = imuData.accelerationY;
tm.acc_z = imuData.accelerationZ;
- tm.gyro_x = imuData.angularVelocityX;
- tm.gyro_y = imuData.angularVelocityY;
- tm.gyro_z = imuData.angularVelocityZ;
+ tm.gyro_x = imuData.angularSpeedX;
+ tm.gyro_y = imuData.angularSpeedY;
+ tm.gyro_z = imuData.angularSpeedZ;
tm.mag_x = imuData.magneticFieldX;
tm.mag_y = imuData.magneticFieldY;
tm.mag_z = imuData.magneticFieldZ;
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILGyroscope.h b/src/hardware_in_the_loop/HIL_sensors/HILGyroscope.h
index 840ace99aba1bfe89fa0f87243098355b59d1596..eff7ffd9dbcb7cdd8362e101a6addac1c848cb65 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILGyroscope.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILGyroscope.h
@@ -47,10 +47,10 @@ protected:
* struct */
Boardcore::Vec3 matlabData = sensorData->gyro.measures[sampleCounter];
- tempData.angularVelocityX = matlabData.getX();
- tempData.angularVelocityY = matlabData.getY();
- tempData.angularVelocityZ = matlabData.getZ();
- tempData.angularVelocityTimestamp = updateTimestamp();
+ tempData.angularSpeedX = matlabData.getX();
+ tempData.angularSpeedY = matlabData.getY();
+ tempData.angularSpeedZ = matlabData.getZ();
+ tempData.angularSpeedTimestamp = updateTimestamp();
Boardcore::Logger::getInstance().log(tempData);
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILImu.h b/src/hardware_in_the_loop/HIL_sensors/HILImu.h
index 81cc2550e02a9fc9fbb4e66c5aa046fd2346b28a..bfd23a688df042b180502f54f49ec798483a6f33 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILImu.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILImu.h
@@ -52,19 +52,19 @@ protected:
tempData.accelerationY = matlabData.getY();
tempData.accelerationZ = matlabData.getZ();
- matlabData = sensorData->gyro.measures[sampleCounter];
- tempData.angularVelocityX = matlabData.getX();
- tempData.angularVelocityY = matlabData.getY();
- tempData.angularVelocityZ = matlabData.getZ();
+ matlabData = sensorData->gyro.measures[sampleCounter];
+ tempData.angularSpeedX = matlabData.getX();
+ tempData.angularSpeedY = matlabData.getY();
+ tempData.angularSpeedZ = matlabData.getZ();
matlabData = sensorData->magnetometer.measures[sampleCounter];
tempData.magneticFieldX = matlabData.getX();
tempData.magneticFieldY = matlabData.getY();
tempData.magneticFieldZ = matlabData.getZ();
- tempData.accelerationTimestamp = updateTimestamp();
- tempData.angularVelocityTimestamp = tempData.accelerationTimestamp;
- tempData.magneticFieldTimestamp = tempData.accelerationTimestamp;
+ tempData.accelerationTimestamp = updateTimestamp();
+ tempData.angularSpeedTimestamp = tempData.accelerationTimestamp;
+ tempData.magneticFieldTimestamp = tempData.accelerationTimestamp;
Boardcore::Logger::getInstance().log(tempData);
diff --git a/src/hardware_in_the_loop/HIL_sensors/HILSensorsData.h b/src/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
index 34b9ea3e58f3bcdf30767dff551fabc3f5dedc6e..83840430fc719e6f4c1f4bd1aab3439378b2f7a5 100644
--- a/src/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
+++ b/src/hardware_in_the_loop/HIL_sensors/HILSensorsData.h
@@ -41,13 +41,13 @@ struct HILGyroscopeData : public Boardcore::GyroscopeData
{
static std::string header()
{
- return "timestamp,angularVelocityX,angularVelocityY,angularVelocityZ\n";
+ return "timestamp,angularSpeedX,angularSpeedY,angularSpeedZ\n";
}
void print(std::ostream& os) const
{
- os << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << "\n";
+ os << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << "\n";
}
};
@@ -72,8 +72,8 @@ struct HILImuData : public HILAccelData,
static std::string header()
{
return "accelerationTimestamp,accelerationX,accelerationY,"
- "accelerationZ,angularVelocityTimestamp,angularVelocityX,"
- "angularVelocityY,angularVelocityZ,magneticFieldTimestamp,"
+ "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
+ "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
"magneticFieldX,magneticFieldY,magneticFieldZ\n";
}
@@ -81,8 +81,8 @@ struct HILImuData : public HILAccelData,
{
os << accelerationTimestamp << "," << accelerationX << ","
<< accelerationY << "," << accelerationZ << ","
- << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << ","
+ << angularSpeedTimestamp << "," << angularSpeedX << ","
+ << angularSpeedY << "," << angularSpeedZ << ","
<< magneticFieldTimestamp << "," << magneticFieldX << ","
<< magneticFieldY << "," << magneticFieldZ << "\n";
}
diff --git a/src/scripts/logdecoder/Main/logdecoder b/src/scripts/logdecoder/Main/logdecoder
new file mode 100755
index 0000000000000000000000000000000000000000..bde49d6700c2073d17e0434e92c976daf436b04c
Binary files /dev/null and b/src/scripts/logdecoder/Main/logdecoder differ
diff --git a/src/scripts/logdecoder/Payload/logdecoder b/src/scripts/logdecoder/Payload/logdecoder
new file mode 100755
index 0000000000000000000000000000000000000000..faa0d3e4eb4160b85bfd13e92650b18a16d31626
Binary files /dev/null and b/src/scripts/logdecoder/Payload/logdecoder differ
diff --git a/src/tests/Main/calibration/test-bmx160-calibration.cpp b/src/tests/Main/calibration/test-bmx160-calibration.cpp
index 07f5f0b323369418582b7a5a49374f04195fa5f3..40e57dc55447ef5165bfebdb252643d6c366125d 100644
--- a/src/tests/Main/calibration/test-bmx160-calibration.cpp
+++ b/src/tests/Main/calibration/test-bmx160-calibration.cpp
@@ -417,9 +417,8 @@ void calibrateGyroscope()
auto data = fifo.at(i);
Logger::getInstance().log(data);
- calibrationModel.feed({data.angularVelocityX,
- data.angularVelocityY,
- data.angularVelocityZ});
+ calibrationModel.feed({data.angularSpeedX, data.angularSpeedY,
+ data.angularSpeedZ});
count++;
}
},
diff --git a/src/tests/Main/sensors/test-bmx160.cpp b/src/tests/Main/sensors/test-bmx160.cpp
index 8b99131638fc90af5bd1425e0428d2af73e4898e..71ffc3f11ba1ae03426a7d6774d40386118a4c54 100644
--- a/src/tests/Main/sensors/test-bmx160.cpp
+++ b/src/tests/Main/sensors/test-bmx160.cpp
@@ -110,9 +110,9 @@ int main()
stats[0].add(data.magneticFieldX);
stats[1].add(data.magneticFieldY);
stats[2].add(data.magneticFieldZ);
- stats[3].add(data.angularVelocityX);
- stats[4].add(data.angularVelocityY);
- stats[5].add(data.angularVelocityZ);
+ stats[3].add(data.angularSpeedX);
+ stats[4].add(data.angularSpeedY);
+ stats[5].add(data.angularSpeedZ);
stats[6].add(data.accelerationX);
stats[7].add(data.accelerationY);
stats[8].add(data.accelerationZ);
@@ -163,9 +163,8 @@ int main()
data.magneticFieldZ);
printf("Gyr [%.4f s]:\t%.2f\t%.2f\t%.2f\n",
- data.angularVelocityTimestamp / 1000000.0f,
- data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ);
+ data.angularSpeedTimestamp / 1000000.0f, data.angularSpeedX,
+ data.angularSpeedY, data.angularSpeedZ);
printf("Acc [%.4f s]:\t%.2f\t%.2f\t%.2f\n",
data.accelerationTimestamp / 1000000.0f, data.accelerationX,
diff --git a/src/tests/Main/sensors/test-mpu9250.cpp b/src/tests/Main/sensors/test-mpu9250.cpp
index e71fea7f7ce772eea174ea11d99ab013fbf40a97..b84063d87b96fd467982de5209937da24418bc70 100644
--- a/src/tests/Main/sensors/test-mpu9250.cpp
+++ b/src/tests/Main/sensors/test-mpu9250.cpp
@@ -83,9 +83,9 @@ int main()
stats[0].add(data.magneticFieldX);
stats[1].add(data.magneticFieldY);
stats[2].add(data.magneticFieldZ);
- stats[3].add(data.angularVelocityX);
- stats[4].add(data.angularVelocityY);
- stats[5].add(data.angularVelocityZ);
+ stats[3].add(data.angularSpeedX);
+ stats[4].add(data.angularSpeedY);
+ stats[5].add(data.angularSpeedZ);
stats[6].add(data.accelerationX);
stats[7].add(data.accelerationY);
stats[8].add(data.accelerationZ);
@@ -110,9 +110,8 @@ int main()
MPU9250Data data = mpu9250.getLastSample();
printf("%lld,%f,%f,%f;", data.accelerationTimestamp, data.accelerationX,
data.accelerationY, data.accelerationZ);
- printf("%lld,%f,%f,%f;", data.angularVelocityTimestamp,
- data.angularVelocityX, data.angularVelocityY,
- data.angularVelocityZ);
+ printf("%lld,%f,%f,%f;", data.angularSpeedTimestamp, data.angularSpeedX,
+ data.angularSpeedY, data.angularSpeedZ);
printf("%lld,%f,%f,%f\n", data.magneticFieldTimestamp,
data.magneticFieldX, data.magneticFieldY, data.magneticFieldZ);
diff --git a/src/tests/Main/sensors/test-vn100.cpp b/src/tests/Main/sensors/test-vn100.cpp
index 29489bcd4b3ece61370e7463d85776d334b7df42..4a4eac990383b71113efc74919151e46e76ca6b6 100644
--- a/src/tests/Main/sensors/test-vn100.cpp
+++ b/src/tests/Main/sensors/test-vn100.cpp
@@ -61,8 +61,8 @@ int main()
printf("[%.2f] acc: %.3f, %.3f, %.3f\n",
sample.accelerationTimestamp / 1e6, sample.accelerationX,
sample.accelerationY, sample.accelerationZ);
- // printf("ang: %.3f, %.3f, %.3f\n", sample.angularVelocityX,
- // sample.angularVelocityY, sample.angularVelocityZ);
+ // printf("ang: %.3f, %.3f, %.3f\n", sample.angularSpeedX,
+ // sample.angularSpeedY, sample.angularSpeedZ);
sensor.sampleRaw();
// sampleRaw = sensor.getLastRawSample();
diff --git a/src/tests/Main/test-nas.cpp b/src/tests/Main/test-nas.cpp
index d9849ad79ffe3cb3806a07ddea357b08acf63fb2..001e6c69c8285a5b35cd215a1a7d6d19ea070712 100644
--- a/src/tests/Main/test-nas.cpp
+++ b/src/tests/Main/test-nas.cpp
@@ -159,14 +159,14 @@ void step()
Vector3f acceleration(imuData.accelerationX, imuData.accelerationY,
imuData.accelerationZ);
- Vector3f angularVelocity(imuData.angularVelocityX, imuData.angularVelocityY,
- imuData.angularVelocityZ);
+ Vector3f angularSpeed(imuData.angularSpeedX, imuData.angularSpeedY,
+ imuData.angularSpeedZ);
Vector3f magneticField(imuData.magneticFieldX, imuData.magneticFieldY,
imuData.magneticFieldZ);
// Calibration
{
- angularVelocity -= Vector3f{-0.00863, 0.00337, 0.01284};
+ angularSpeed -= Vector3f{-0.00863, 0.00337, 0.01284};
Matrix3f A{{0.73726, 0, 0}, {0, 0.59599, 0}, {0, 0, 2.27584}};
Vector3f b{39.22325, -17.47903, -13.81505};
@@ -195,7 +195,7 @@ void step()
}
// Predict step
- nas->predictGyro(angularVelocity);
+ nas->predictGyro(angularSpeed);
nas->predictAcc(acceleration);
// Correct step
@@ -220,9 +220,9 @@ void print()
auto nasState = nas->getState();
// auto imuData = imu->getLastSample();
- // printf("%f, %f, %f\n", imuData.angularVelocityX,
- // imuData.angularVelocityY,
- // imuData.angularVelocityZ);
+ // printf("%f, %f, %f\n", imuData.angularSpeedX,
+ // imuData.angularSpeedY,
+ // imuData.angularSpeedZ);
// printf("%f, %f, %f, %f, %f, %f\n", nasState.n, nasState.e, nasState.d,
// nasState.vn, nasState.ve, baroData.pressure);